#pragma config(Hubs,  S1, HTMotor,  HTMotor,  HTMotor,  HTServo)
#pragma config(Sensor, S2,     HTPB,                sensorI2CCustom9V)
#pragma config(Sensor, S3,     SMUX_1,              sensorI2CCustom)
#pragma config(Sensor, S4,     SMUX_2,              sensorI2CCustom)
#pragma config(Motor,  mtr_S1_C1_1,     e,             tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     a,             tmotorNormal, PIDControl, reversed, encoder)
#pragma config(Motor,  mtr_S1_C2_1,     b,             tmotorNormal, PIDControl, reversed, encoder)
#pragma config(Motor,  mtr_S1_C2_2,     c,             tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C3_1,     f,             tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C3_2,     d,             tmotorNormal, PIDControl, encoder)
#pragma config(Servo,  srvo_S1_C4_1,    frontarm,             tServoStandard)
#pragma config(Servo,  srvo_S1_C4_2,    backarm,              tServoStandard)
#pragma config(Servo,  srvo_S1_C4_3,    dispencer,            tServoStandard)
#pragma config(Servo,  srvo_S1_C4_4,    Irpullup,             tServoStandard)
#pragma config(Servo,  srvo_S1_C4_5,    Irfront,              tServoStandard)
#pragma config(Servo,  srvo_S1_C4_6,    Irback,               tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//


 /**********************************************************************\
*																																	  	 *
* PROGRAM: Big Board  	      														        	  *
* VERSION: 1.2																										    *
* AUTHOR: Team R.A.B.B.I                                              *
* DATE:		 April 2011  	  																					  *
*																																		  *
* LICENSE: GNU GPL V3 2011                                            *
\**********************************************************************/





#define BIG_BOARD
/*

#ifndef BIG_BOARD
#include "big_board.h"
#endif

*/
//Definitions for the different hieghts of the arms
#define DISPENCING_HEIGHT 354

//Definitions for the different sensor ports
#define COMPASSPOS msensor_S4_1
#define GYROPOS msensor_S4_2
#define ACCEL msensor_S4_3
#define IR_FRONT msensor_S3_1
#define IR_BACK msensor_S3_2
#define EOPD_R msensor_S3_4
#define EOPD_L msensor_S3_3

#define WHEEL_IR_FL 1
#define WHEEL_IR_FR 2
#define WHEEL_IR_BL 0
#define WHEEL_IR_BR 3


//Definitions for moving straight
#define A_FORWARD 0.80
#define B_FORWARD 0.85
#define C_FORWARD 1
#define D_FORWARD 0.68

#define A_BACKWARD 0.82
#define B_BACKWARD 0.90
#define C_BACKWARD 1
#define D_BACKWARD 0.70
